Lidar display systems and methods

ABSTRACT

Systems and methods for displaying imagery on a Light Detection and Ranging (LIDAR) system are provided. In one example embodiment, a method includes determining, by the one or more computing devices, a rotational frequency of a LIDAR device located on a vehicle. The method includes illuminating, by the one or more computing devices, one or more of a plurality of light emitting elements coupled to the LIDAR device based at least in part on the rotational frequency of the LIDAR device and the one or more images for display.

FIELD

The present disclosure relates generally to displaying imagery on aLight Detection and Ranging (LIDAR) system.

BACKGROUND

An autonomous vehicle is a vehicle that is capable of sensing itsenvironment and navigating with minimal or no human input. Inparticular, an autonomous vehicle can observe its surroundingenvironment using a variety of sensors and can attempt to comprehend theenvironment by performing various processing techniques on datacollected by the sensors. One such sensor is a Light Detection andRanging (LIDAR) system. A LIDAR system can include a laser device thatemits laser pulses while rotating.

SUMMARY

Aspects and advantages of embodiments of the present disclosure will beset forth in part in the following description, or may be learned fromthe description, or may be learned through practice of the embodiments.

One example aspect of the present disclosure is directed to acomputer-implemented method that includes receiving, by one or morecomputing devices, one or more images for display. The method includesdetermining, by the one or more computing devices, a rotationalfrequency of a LIDAR device located on a vehicle. The method includesilluminating, by the one or more computing devices, one or more of aplurality of light emitting elements coupled to the LIDAR device basedat least in part on the rotational frequency of the LIDAR device and theone or more images for display.

Another example aspect of the present disclosure is directed to acomputing system for displaying imagery. The system includes one or moreprocessors and one or more tangible, non-transitory, computer readablemedia that collectively store instructions that when executed by the oneor more processors cause the computing system to perform operations. Theoperations include receiving one or more images for display. Theoperations include determining a rotational frequency of a LIDAR devicelocated on a vehicle. The operations include illuminating one or more ofa plurality of light emitting elements coupled to the LIDAR device basedat least in part on the rotational frequency of the LIDAR device and theone or more images for display.

Yet another example aspect of the present disclosure is directed to adisplay apparatus. The display apparatus includes one or more supportelements configured to be coupled to a LIDAR device capable ofrotational movement. The display apparatus includes a plurality of lightemitting elements coupled to the one or more support elements. Thedisplay apparatus includes one or more controllers in communication withthe plurality of light emitting elements and configured to cause one ormore of the plurality of light emitting elements to illuminate fordisplay based at least in part on a rotational frequency of the LIDARdevice.

Other example aspects of the present disclosure are directed to systems,methods, vehicles, apparatuses, tangible, non-transitorycomputer-readable media, user interfaces, and memory devices fordisplaying imagery.

These and other features, aspects and advantages of various embodimentswill become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the present disclosure and, together with thedescription, serve to explain the related principles.

BRIEF DESCRIPTION OF THE DRAWINGS

Detailed discussion of embodiments directed to one of ordinary skill inthe art are set forth in the specification, which makes reference to theappended figures, in which:

FIG. 1 depicts an example system overview according to exampleembodiments of the present disclosure;

FIG. 2 depicts a LIDAR system according to example embodiments of thepresent disclosure;

FIG. 3 depicts an example system overview according to exampleembodiments of the present disclosure;

FIG. 4A depicts imagery on a LIDAR system on a vehicle according toexample embodiments of the present disclosure;

FIGS. 4B-4H depict imagery on a LIDAR system according to exampleembodiments of the present disclosure;

FIG. 5 depicts a flow diagram of an example method for imagery displayon a LIDAR system according to example embodiments of the presentdisclosure; and

FIG. 6 depicts an example system overview according to exampleembodiments of the present disclosure.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments, one or moreexample(s) of which are illustrated in the drawings. Each example isprovided by way of explanation of the embodiments, not limitation of thepresent disclosure. In fact, it will be apparent to those skilled in theart that various modifications and variations can be made to theembodiments without departing from the scope or spirit of the presentdisclosure. For instance, features illustrated or described as part ofone embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that aspects of the presentdisclosure cover such modifications and variations.

Example aspects of the present disclosure are directed to displayingimagery on a Light Detection and Ranging (LIDAR) system. Moreparticularly, one or more light emitting elements can be located on arotatable surface of a LIDAR system and can be illuminated to createimagery for display on the LIDAR system. A rotational frequency of theLIDAR system can be used to determine appropriate light emittingelements to illuminate during rotation of the LIDAR system to result indisplay of the desired imagery.

LIDAR systems can be used to acquire sensor data associated with theenvironment of a vehicle, such as an autonomous vehicle (e.g., aground-based vehicle, air-based vehicle, other vehicle type), to helpperceive the vehicle's surroundings. A LIDAR system can include a laserdevice that emits laser pulses while rotating such that the sensor datacan include the location (e.g., in three-dimensional space relative tothe LIDAR system in the field of rotation) of a number of points thatcorrespond to objects that have reflected the laser pulses emitted bythe LIDAR system. Rotation of the LIDAR system allows for imagery to becreated by positioning light emitting elements on the LIDAR system andilluminating such elements at frequencies that match or harmonize with arotational frequency of the LIDAR system. Rotation of light emittingelements around a common axis can enable the impression of imagery beingdisplayed on a surface through persistence of vision. Persistence ofvision refers to the optical illusion that occurs when visual perceptionof an object does not cease for some time after the rays of lightproceeding from it have ceased to enter the eye. In this manner, imagerycan be displayed by light emitting elements on any rotatable surface ofthe LIDAR system.

As described herein, light emitting elements can be any suitable lightemitting elements such as light emitting diodes (LEDs) or the like andmay or may not be in the visible light spectrum. The light emittingelements can be joined to one or more support elements or can be joineddirectly to a LIDAR system. The light emitting elements and/or supportelement(s) can be joined to a rotatable surface of the LIDAR system. Incertain embodiments, the light emitting elements may be located on ornear an exterior surface of the LIDAR system. In some embodiments, thelight emitting elements may be located within an interior portion of theLIDAR system and project outwards towards the exterior surface of theLIDAR system.

In certain aspects of the present disclosure, one or more controllerscan cause one or more of the plurality of light emitting elements toilluminate for display based at least in part on a rotational frequencyof the LIDAR device. For instance, in embodiments in which one or moreof the light emitting elements are LEDs, one or more controllers cansend one or more signals to one or more drivers associated with one ormore respective LEDs, to illuminate such LEDs.

Imagery displayed on the LIDAR system described herein can be utilized,for example, with a service, such as an on-demand service or the like.Aspects of the present disclosure are capable of providing displayedimagery for example, on or within a vehicle operated by a serviceprovider (e.g., a transport service provider, a delivery provider, orthe like). The imagery can be positioned to be easily visible to a userof the vehicle, bystander, other drivers, or the like. As furtherdescribed herein, information specified or configured by a user of aservice can be used to create and/or select imagery to be displayed,such as through an application accessible to a user through a userdevice. For instance, a user can be provided with an option in anapplication on a user device to determine and/or choose imagery to bedisplayed. In certain aspects of the present disclosure, the imagery canbe selected from a library of existing imagery and/or created, at leastin part, based on such imagery. In certain aspects of the presentdisclosure, the imagery can be created by a user. Examples oftwo-dimensional or three-dimensional features that can be specifiedand/or configured/created by a user include a color(s), a pattern(s), anillumination sequence(s), text, visual content (e.g., avatars, emojis,logos, icons, or the like), video, and/or audio. In this manner, when avehicle associated with the service provider approaches a user forpurposes of providing the service, the imagery can be dynamicallyconfigured and personalized in a manner specified and recognizable bythe user, thereby informing the user, bystander(s), and/or othervehicles which vehicle has been assigned to the user to provide theservice.

Similarly, imagery displayed on the LIDAR system can be used todetermine what is displayed to a user through an application on a userdevice. For example, if the LIDAR system displays an image, the color ofsuch image on LIDAR system can match a color displayed on associatedapplication on a user device.

Additionally, or alternatively, to the aforementioned examples, theimagery can be utilized to provide one or more other indications asfurther described herein. In some aspects of the present disclosure, theimagery can provide an indication as to which seat and/or door a usershould enter the vehicle from, such as in the case of when the vehicleis part of a car pool and/or to direct a user to the safest entry pointdue to traffic or other conditions. In some aspects of the presentdisclosure, the imagery can provide an indication as to the currentpricing for the service, such as increased pricing due to demand, or thelike. In certain aspects of the present disclosure, the imagery can beconfigured to provide access to the vehicle, such as a pin code, QRcode, pass key, or the like, which can be entered into a user device(e.g., mobile device, wearable device, or the like) in communicationwith one or more vehicle control system(s) to authenticate the user. Forinstance, a user can scan a QR code using a user device to unlock a doorto the vehicle. In certain aspects of the present disclosure, a user cansubmit messages (e.g., through a user interface in the vehicle, userdevice, or the like) which can be displayed by the imagery. In certainaspects of the present disclosure, a first name or other identification(associated with a user and/or associated with an intended rider, suchas a rider for whom as user has ordered the service) can be displayed bythe imagery so as to not require a user and/or rider to review a userdevice to identify the vehicle. Although the terms “user” and “rider”are used separately in the above example, the term “user” as usedthroughout the present description is intended to include rider(s).

Imagery displayed on the LIDAR system described herein can also, oralternatively, be based on a surrounding environment of the vehicleand/or a status of the vehicle and/or one or more vehicle systems. Forexample, imagery can provide courtesy or safety information to users,bystanders, other drivers, or the like. Such information can include,for example, intended destination, pricing information, expected time ofarrival to a destination, cross-walk signals (such as an indication thatit is safe to walk in front of the vehicle), stop signals, turn signals,messages and/or signaling that the vehicle is going to stop and pick upa user, other safety messages and/or signaling, information about thecity or locality (e.g., city maps, landmarks, sports teams, or thelike), artwork, news, advertising, or the like.

As contemplated herein, one or more of the aforementioned examples canbe displayed at a fixed location on the LIDAR system, move at fixedand/or random intervals across different location on the LIDAR systemand/or scroll across a region and/or the entire circumference of theLIDAR system (e.g. scrolling message or the like). In this manner, asingle image or different imagery can be displayed on the LIDAR system.

As described herein, a LIDAR system and/or other sensors are configuredto acquire sensor data associated with the surrounding environment ofthe autonomous vehicle. The LIDAR system can include various types ofemitters and/or detectors, such as various types of lasers andphotometric detectors. The LIDAR system can emit (e.g., over 360 degreesby rotation) ranging lasers, such as focused, low-power beams of lightof a specified wavelength, and can detect and record the reflection ofsuch wavelengths of light from various objects. The LIDAR system canacquire the sensor data in real-time, as the autonomous vehicle is inmotion and can provide the sensor data to the vehicle computing systemfor processing. In certain aspects of the present disclosure, arotational frequency of the LIDAR system can be determined by thevehicle computing system and can be utilized to determine theappropriate light emitting elements to illuminate during rotation of theLIDAR system to result in display of the desired imagery. For example,in certain aspects of the present disclosure, active determination(e.g., measuring the real-time rotation of the LIDAR system andcontrolling illumination of one or more of the light emitting elementsbased on the measured rotation) can be utilized. In certain aspects ofthe present disclosure, passive determination (e.g., using apredetermined or preset rotational frequency for the rotation of theLIDAR system, even if the LIDAR system fluctuates from suchpredetermined/preset rotational frequency) can be utilized.

The systems, methods, and vehicles described herein may provide a numberof technical effects and benefits. For instance, the rotational elementsof a LIDAR system can be leveraged to provide imagery through lightemitting elements positioned thereon. Due to the positioning of theLIDAR system at a prominent location on a vehicle where 360 degreesviews by rotation are available, imagery presented can be readilyviewable by users, bystanders, and/or other drivers. In addition,existing vehicle computing systems that can require a rotationalvelocity of the LIDAR system can be utilized to provide such rotationalvelocity information to control illumination of one or more lightemitting elements. As such, the vehicle computing system can provide anaccurate, real-time representation through imagery to users of thevehicle, bystanders, and/or other drivers. This can help improve trustassociated with the autonomous vehicle as it autonomously navigates(without human interaction) to a destination point.

The systems, methods, and vehicles described herein also provide animprovement to vehicle computing technology. For instance, aspects ofthe present disclosure enable a vehicle computing system to moreaccurately represent imagery based on utilization of the LIDAR system.

With reference now to the FIGS., example embodiments of the presentdisclosure will be discussed in further detail. FIG. 1 depicts anexample system 100 according to example embodiments of the presentdisclosure. The system 100 can include a vehicle 102, one or more remotecomputing device(s) 104, and/or one or more user device(s) 126A-B. Theremote computing device(s) 104 can be associated with a vehicle owner, afleet operator, maintenance and/or monitoring entity, a centraloperations computing system, and/or another entity that is associatedwith the vehicle 102. Additionally, or alternatively, the entity can bea service provider that provides one or more vehicle service(s) to aplurality of users via a fleet of vehicles that includes, for example,the vehicle 102. The vehicle service(s) can include transportationservices (e.g., rideshare services), courier services, deliveryservices, and/or other types of services. The vehicle service(s) cantransport and/or deliver passengers as well as items such as but notlimited to food, animals, freight, purchased goods, etc. The one or moreuser device(s) can be associated with a user or party associated withthe aforementioned services.

The remote computing device(s) 104 and/or one or more user device(s)126A-B can include multiple components for performing various operationsand functions. For example, the remote computing device(s) 104 and/orone or more user device(s) 126A-B can include and/or otherwise beassociated with one or more computing device(s) that are remote from thevehicle 102. The one or more computing device(s) can include one or moreprocessor(s) and one or more memory device(s). The one or more memorydevice(s) can store instructions that when executed by the one or moreprocessor(s) cause the one or more processor(s) to perform operationsand functions (e.g., for monitoring, communicating with the vehicle102).

Referring to FIG. 2, an exemplary LIDAR system 200 is illustrated. TheLIDAR system 200 includes a scanning device (not shown) contained withinhousing 202. One or more lenses 204 can be positioned in front of theemitter/detectors (not shown) of the scanning device in order to focusthe outgoing laser light and the returned light. The housing 202 can bepositioned and configured so that it can be driven by a motor (notshown) to rotate about the vertical axis that is perpendicular to theemitter/detectors. Accordingly, when the device rotates theemitter/detectors each pass across a target along a horizontal plane. Asdescribed herein, a plurality of light emitting elements 206A-B-C can bepositioned on the rotatable housing 202 of the LIDAR system 200. Thelight emitting elements can be joined to one or more support elements(not shown) or can be joined directly to a LIDAR system.

Referring to FIG. 4A, LIDAR system 200 is shown on vehicle 102. Imagery400 displayed on the LIDAR system 200 can be based on a surroundingenvironment of the vehicle and/or a status of the vehicle and/or one ormore vehicle systems. For example, imagery 400 can provide courtesy orsafety information to users, bystanders, other drivers, or the like(e.g., a cross-walk signal, such as an indication that it is safe towalk in front of the vehicle as shown in 400A or a stop signal as shownin 400B). As described herein, imagery 400 can be displayed on one ormore portions of the LIDAR system (e.g., turn signal 400A provided onside of LIDAR system relative to side of vehicle as shown in FIG. 4Band/or turn signal 400B provided on front of LIDAR system relative tofront of vehicle as shown in FIG. 4C). Referring to FIG. 4H, imagery 400can be displayed alerting a user to the presence of an open door (e.g.,when a user is departing a vehicle).

Referring again to FIG. 1, the remote computing device(s) 104 and/or oneor more user device(s) 126A-B can communicate with the vehicle 102 viaone or more communications network(s) 106. The communications network(s)106 can include various wired and/or wireless communication mechanisms(e.g., cellular, wireless, satellite, microwave, and radio frequency)and/or any desired network topology (or topologies). For example, thecommunications network(s) 106 can include a local area network (e.g.intranet), wide area network (e.g. Internet), wireless LAN network(e.g., via Wi-Fi), cellular network, a SATCOM network, VHF network, a HFnetwork, a WiMAX based network, and/or any other suitable communicationsnetwork (or combination thereof) for transmitting data to and/or fromthe vehicle 102. The one or more user device(s) 126A-B can also beconfigured to communicate directly with the vehicle 102 via technologiesand/or protocols such as those for shorter range communications (e.g.,via Bluetooth protocol, near-field communication).

The vehicle 102 can be a ground-based vehicle (e.g., an automobile,truck, bus), an aircraft, and/or another type of vehicle. The vehicle102 can be an autonomous vehicle that can drive, navigate, operate, etc.with minimal and/or no interaction from a human driver.

The vehicle 102 can include a vehicle computing system 108 thatimplements a variety of systems on-board the vehicle 102. The vehiclecomputing system 108 can include one or more computing device(s) forimplementing the systems. For instance, the vehicle computing system caninclude a communications system 110, one or more human machine interfacesystem(s) 112, one or more data acquisition system(s) 114, an autonomysystem 116, one or more vehicle control component(s) 118, and a“drive-by-wire” control system 120. One or more of these system(s) canbe configured to communicate with one another via a communicationchannel. The communication channel can include one or more data bus(es)(e.g., controller area network (CAN), on-board diagnostics connector(e.g., OBD-II), and/or a combination of wired and/or wirelesscommunication links). The on-board systems can send and/or receive data,messages, signals, etc. amongst one another via the communicationchannel.

The communications system 110 can be configured to allow the vehiclecomputing system 108 (and its sub-systems) to communicate with othercomputing devices. For example, the vehicle computing system 108 can usethe communications system 110 to communicate with the remote computingdevice(s) 104 and/or one or more user device(s) 126A-B over thenetwork(s) 106 (e.g., via one or more wireless signal connections). Thecommunications system 110 can include any suitable components forinterfacing with one or more network(s), including for example,transmitters, receivers, ports, controllers, antennas, or other suitablecomponents that can help facilitate communication with one or moreremote computing device(s) that are remote from the vehicle 102.

The vehicle computing system 108 and/or remote computing device(s) 104can receive, from a user device 126A associated with a user 128A, dataindicative of a request for access to a vehicle. The request caninclude, for example, a service request to use one of the serviceprovider's vehicles for the provided services (e.g., rideshare, courier)and/or a request to access a vehicle to provide maintenance (e.g., at aservice depot). The user 128A can be a user that has downloaded asoftware application associated with the service provider, a user thathas made a service request with the service provider, a user that is acustomer of the service provider, a user that has registered with (e.g.,signed-up with, has an account with, has a profile with, has subscribedto) the service provider, etc. In some aspects of the presentdisclosure, the imagery can provide an indication as to the currentpricing for the service, such as increased pricing due to demand, or thelike. In certain aspects of the present disclosure, informationspecified or configured by a user 128A can be used to create and/orselect imagery to be displayed.

Referring to FIG. 4D, user 128A can capture an image 402 using userdevice 126A which can be utilized by vehicle computing system 108 and/orremote computing device(s) 104 to display imagery 400 associated withimage 402. Imagery 400 can be created by any suitable methods as wouldbe understood by one of ordinary skill in the art and can approximatethe image 402 captured by user device 126A. In this manner, a vehicle102 can readily be identified by a user 128A. In addition, vehicle 102can be personalized to include imagery 402 selected by user 128A todistinguish vehicle 102 from other vehicles.

Referring to FIGS. 4E and 4F, other exemplary types of imagery 400 arepresented. For example, as depicted in FIG. 4E, imagery 400 can presentadvertising and FIG. 4F, imagery 400 can present information, such as anumber that enables identification of a vehicle associated with suchimagery. In certain embodiments, as depicted in FIG. 4G, imagery 400 canpresent information, such as a name, that allows a user to identify avehicle associated with such imagery.

The human machine interface system(s) 112 can be configured to allowinteraction between a user 128A (e.g., human) and the vehicle 102 (e.g.,the vehicle computing system 108). The human machine interface system(s)112 can include a variety of interfaces for the user to input and/orreceive information from the vehicle computing system 108. The humanmachine interface system(s) 112 can include one or more input device(s)(e.g., touchscreens, keypad, touchpad, knobs, buttons, sliders,switches, mouse, gyroscope, microphone, other hardware interfaces)configured to receive user input. The human machine interface system(s)112 can include a user interface (e.g., graphical user interface,conversational and/or voice interfaces, chatter robot, gestureinterface, other interface types) for receiving user input. The humanmachine interface(s) 112 can also include one or more output device(s)(e.g., display devices, speakers, lights) to output data associated withthe interfaces. In certain aspects of the present disclosure, a user cansubmit messages (e.g., through the human machine interface system(s)112) which can be displayed by the imagery.

The data acquisition system(s) 114 can include various devicesconfigured to acquire data associated with the vehicle 102. This caninclude data associated with one or more of the vehicle's system(s)(e.g., health data), the vehicle's interior, the vehicle's exterior, thevehicle's surroundings, the vehicle users (e.g., driver, passenger),etc. The data acquisition system(s) 114 can include, for example, one ormore image capture device(s) 122. The image capture device(s) 122 caninclude one or more LIDAR systems. Rotation of the LIDAR system allowsfor imagery to be created by positioning light emitting elements on theLIDAR system. Rotation of light emitting elements around a common axiscan enable the impression of imagery being displayed on a surfacethrough persistence of vision. In this manner, imagery can be displayedby light emitting elements on any rotatable surface of the LIDAR system.

The image capture device(s) 122 can additionally or alternativelyinclude one or more camera(s), two-dimensional image capture devices,three-dimensional image capture devices, static image capture devices,dynamic (e.g., rotating) image capture devices, video capture devices(e.g., video recorders), lane detectors, scanners, optical readers,electric eyes, and/or other suitable types of image capture devices. Theimage capture device(s) 122 can be located in the interior and/or on theexterior of the vehicle 102. The one or more image capture device(s) 122can be configured to acquire image data to be used for operation of thevehicle 102, for example, in an autonomous mode.

Additionally, or alternatively, the data acquisition systems 114 caninclude one or more sensor(s) 124. The sensor(s) 124 can include impactsensors, motion sensors, pressure sensors, temperature sensors, humiditysensors, RADAR, sonar, radios, medium-range and long-range sensors(e.g., for obtaining information associated with the vehicle'ssurroundings), global positioning system (GPS) equipment, proximitysensors, and/or any other types of sensors for obtaining data associatedwith the vehicle 102. The data acquisition systems 114 can include oneor more sensor(s) 124 dedicated to obtaining data associated with aparticular aspect of the vehicle 102, such as, the vehicle's door locks,turn signals, brake lights, fuel tank, engine, oil compartment, wipers,etc. The sensor(s) 124 can also, or alternatively, include sensor(s)associated with one or more mechanical and/or electrical components ofthe vehicle 102. For example, one or more of the sensor(s) 124 can beconfigured to detect whether a vehicle door is in an open or closedposition, the vehicle's available data storage, the vehicle's chargelevel, etc. Imagery displayed on the LIDAR system described herein canbe based on a status of the vehicle and/or one or more vehicle systems(e.g., imagery provides a service technician with information requiredto service a vehicle, imagery illustrates to bystanders and/or otherdrivers that a vehicle brake light is not functioning, or the like). Incertain aspects of the present disclosure, information about a vehiclesystem, such as wipers, can be indicative of rain or another condition,and the presented imagery can provide information such as advertisementsthat pertain to such condition. Such information can also be sent toother vehicles to enable imagery to be propagated across a network ofvehicles.

One or more of the sensor(s) 124 can be configured to detect a change ina condition associated with the interior of the vehicle 102. Forexample, a sensor can be configured to detect a weight load in adriver's seat of the vehicle 102. Additionally or alternatively, asensor can be configured to detect the position of a seat beltassociated with the driver seat (e.g., whether the buckle is in afastened position or an unfastened position). In this way, the sensorcan be configured to collect data indicative of the whether a humandriver is present in the vehicle 102 and/or whether one or morepassengers are located in the vehicle and, if so, the seat locationswhere they are located. In certain aspects of the present disclosure,imagery can provide an indication as to which seat and/or door a usershould enter the vehicle from, such as in the case of when the vehicleis part of a car pool.

In addition to the data acquired via the data acquisition system(s) 114,the vehicle computing system 108 can also be configured to obtain mapdata. For instance, a computing device of the vehicle 102 (e.g., withinthe autonomy system 116) can be configured to receive map data from oneor more remote computing device(s). The map data can provide informationregarding: the identity and location of different roadways, roadsegments, buildings, or other items; the location and directions oftraffic lanes (e.g., the boundaries, location, direction, etc. of aparking lane, a turning lane, a bicycle lane, or other lanes within aparticular travel way); traffic control data (e.g., the location andinstructions of signage, traffic lights, or other traffic controldevices); and/or any other map data that provides information thatassists the computing system in comprehending and perceiving itssurrounding environment and its relationship thereto. Imagery displayedon the LIDAR system described herein can be based on a surroundingenvironment of the vehicle as determined by data acquisition system(s)114 as described with respect to FIG. 4A.

The autonomy system 116 can be configured to control the operation ofthe vehicle 102 (e.g., to operate autonomously). For instance, theautonomy system 116 can obtain the data associated with the vehicle 102(e.g., acquired by the data acquisition system(s) 114) and/or the mapdata. The autonomy system 116 can control various functions of thevehicle 102 based, at least in part, on the acquired data associatedwith the vehicle 102 and/or the map data. For example, the autonomysystem 116 can include various models to perceive road features,signage, and/or objects (e.g., other vehicles, bikes, people, animals,etc.) based on the data acquired by the data acquisition system(s) 114,map data, and/or other data. The autonomy system 116 can be configuredto predict the position and/or movement (or lack thereof) of suchelements. The autonomy system 116 can be configured to plan the motionof the vehicle 102 based, at least in part, on such predictions.

The autonomy system 116 can implement the planned motion toappropriately navigate the vehicle 102 with minimal or no humanintervention. For instance, the autonomy system 116 can determine aposition and/or route for the vehicle 102 in real-time and/or nearreal-time. For instance, using acquired data, the autonomy system 116can calculate one or more different potential vehicle routes (e.g.,every fraction of a second). The autonomy system 116 can then selectwhich route to take and cause the vehicle 102 to navigate accordingly.By way of example, the autonomy system 116 can calculate one or moredifferent straight path(s) (e.g., including some in different parts of acurrent lane), one or more lane-change path(s), one or more turningpath(s), and/or one or more stopping path(s). The vehicle 102 can selecta path based, at last in part, on an optimization algorithm thatconsiders the costs of potential vehicle movements and seeks todetermine optimized variables that make up the motion plan. Onceselected, the autonomy system 116 can cause the vehicle 102 to travelaccording to the selected path by sending one or more control signals tothe one or more vehicle control component(s) 118.

The vehicle control component(s) 118 can be configured to control themotion of the vehicle 102. For example, vehicle control component(s) 118can include a steering component configured to control the headingand/or direction of the vehicle 102. Moreover, the vehicle controlcomponent(s) 118 can include a braking component configured to controlthe braking of the vehicle 102. The vehicle control component(s) 118 caninclude other components, such as an acceleration component configuredto control the acceleration of the vehicle 102, a gear-shift componentconfigured to control the gears of the vehicle 102, and/or othercomponents (e.g., such as those associated with the vehicle'spowertrain). The vehicle control components(s) 118 can be configured toreceive signals indicating the planned motion of the vehicle 102 andcontrol the vehicle 102 accordingly. Signals for controlling the vehiclecontrol component(s) 118 in accordance with a motion plan can include,for example, signals turning one or more vehicle control component(s)118 on and/or off, signals indicating a pedal position and/or pedalangle of an acceleration component and/or braking component, and/orsignals indicating a position and/or angle of a steering component.

The control system 120 can be configured to display imagery on the LIDARsystem. In some implementations, the control system 120 can be separatefrom one or more of the other on-board system(s). For example, thecontrol system can be separate from the autonomy system 116 and/orseparate from the vehicle control component(s) 118. In otherimplementations, the control system 120 can be integrated as part of oneor more other on-board systems and/or computing devices. The controlsystem 120 can include one or more computing device(s) (e.g., one ormore microcontroller(s)). The computing device(s) can include one ormore processor(s) and one or more memory devices (e.g., all on-board thevehicle 102). The one or more memory device(s) can store instructionsthat when executed by the one or more processor(s) cause the one or moreprocessor(s) to perform operations, such as those for displayingimagery, as described herein. For example, in certain aspects of thepresent disclosure, the imagery can be configured to provide access tothe vehicle, such as a pin code, QR code, pass key, challenge-response,or the like, which can be entered into a user device in communicationwith the vehicle control system 120 to authenticate the user.

In some implementations, imagery can be transferred to the user 128Afrom a different user 128B. For instance, the different user 128B canmake a request for transportation services from the service provider.The operations computing system 104 can send imagery to a user device128A associated with the different user 128B before, during, and/orafter the vehicle 102 is assigned to the user's request. The differentuser 128B may transfer imagery to the user device 128A.

FIG. 3 depicts the control system 120 for displaying imagery accordingto example embodiments of the present disclosure. As shown, the controlsystem 120 can be configured to send signals to one or more controllers302 that can cause one or more of the plurality of light emittingelements (304A-B-C) to illuminate for display based at least in part ona rotational frequency of the LIDAR device. For instance, one or morecontrollers 302 can send one or more signals to one or more drivers 306associated with one or more respective light emitting elements, toilluminate such light emitting elements. The control system 120 can beconfigured such that the control system 120 receives and/or monitors anydata provided by the controller(s) 302 and/or driver(s) 306 and/or lightemitting elements (304A-B) (e.g., light not illuminating, driver notfunctioning, or the like) and adjusts accordingly.

Any suitable light emitting elements such as light emitting diodes(LEDs) or the like can be utilized and may or may not be in the visiblelight spectrum. The light emitting elements can be capable of differentcolors. In certain aspects of the present disclosure, projection LEDscan be utilized to project imagery on a surface (e.g., roadway,sidewalks, tunnel walls, or the like) away from the LIDAR device. Incertain aspects of the present disclosure, brightness can be controlledby control system 120 by using a control signal (e.g., a pulse-widthmodulation signal) controlling the voltage to the light emittingelement. Brightness can be adjusted based on ambient conditions (e.g.,time of day, weather, or the like), maximum brightness allowed in anarea based on laws or ordinances, the type of imagery being presented,or the like. Additionally, in certain implementations, the controlsystem 120 can prevent the light emitting elements from appearing toflash when illuminated to display imagery, particularly when the LIDARsystem is positioned on a vehicle in an area with laws or ordinancesdirected to flashing lights. For instance, if the LIDAR system isrotating at a speed which results in a strobe effect by the lightemitting elements, additional light emitting elements may beilluminated.

The control system 120 is able to generate imagery by controllingillumination of each light emitting element individually. In addition,in certain aspects of the present disclosure, the light emittingelements 304A-B-C may be able to illuminate in two or more differentcolors and the control system is able to control color illumination foreach color associated with each light emitting element. In this manner,one or more light emitting elements 304A-B-C (e.g. LEDs) may beilluminated to produce a first color, while one or more different lightemitting elements are illuminated to produce a second color. One or moredriver(s) 306 can be in communication with the one or more controller(s)202 to control illumination of the light emitting elements. Thecontroller(s) 302 can be any suitable type of controller and two or morecontrollers can be configured in a master/slave arrangement. In certainaspects of the present disclosure, a driver can be utilized inassociation with a predetermined number of light emitting elements. Thelight emitting elements can be rotated around a common axis of the LIDARsystem. One full rotation is separated into a predetermined number ofindividual illumination cycles whereby each light emitting element isable to illuminate (in one or more different colors) to allow imagery tobe generated on one or more surfaces of the LIDAR system. After anillumination cycle takes place, each of the one or more driver(s) can beloaded with new predetermined data to generate additional imagery in asecond cycle. Based on the type of imagery to be displayed, data can becalculated and stored prior to being transmitted to the controller(s)and/or driver(s).

In certain aspects of the present disclosure, a rotational frequency ofthe LIDAR system can be determined by the vehicle computing system andcan be utilized to determine the appropriate light emitting elements toilluminate during rotation of the LIDAR system to result in display ofthe desired imagery. In certain aspects of the present disclosure, dataacquisition systems 114 can provide real-time rotational frequencyinformation for a LIDAR system associated with a vehicle's autonomysystem 116. Such information can be used to control illumination oflight emitting elements positioned on such LIDAR system. In certainaspects of the present disclosure, predetermined or preset rotationalfrequency information for a LIDAR system can be utilized. For example,in certain aspects of the present disclosure, active determination(e.g., measuring the real-time rotation of the LIDAR system andcontrolling illumination of one or more of the light emitting elementsbased on the measured rotation) can be utilized. In certain aspects ofthe present disclosure, passive determination (e.g., using apredetermined or preset rotational frequency for the rotation of theLIDAR system, even if the LIDAR system fluctuates from suchpredetermined/preset rotational frequency) can be utilized. For example,in certain aspects of the present disclosure, a LIDAR system rotates atabout 550 rpm to about 650 rpm. The control system 120 can determineillumination of each light emitting element based on the range ofrotational frequency and the desired imagery, such as by taking anaverage of the rotational frequency or by adjusting the illuminationbased on the range of frequency.

FIG. 5 depicts a flow diagram of an example method 500 of displayingimagery according to example embodiments of the present disclosure. Oneor more portion(s) of the method 300 can be implemented by one or morecomputing device(s) such as, for example, the computing device(s) 104and 108 shown in FIG. 1 and 602 as shown in FIG. 6. Moreover, one ormore portion(s) of the method 500 can be implemented as an algorithm onthe hardware components of the device(s) described herein (e.g., as inFIGS. 1, 3, and 6) to, for example, display imagery on a LIDAR system ofa vehicle. FIG. 5 depicts elements performed in a particular order forpurposes of illustration and discussion. Those of ordinary skill in theart, using the disclosures provided herein, will understand that theelements of any of the methods discussed herein can be adapted,rearranged, expanded, omitted, combined, and/or modified in various wayswithout deviating from the scope of the present disclosure.

At (502), the method 300 can include receiving, one or more images fordisplay. For instance, The vehicle computing system 108 and/or remotecomputing device(s) 104 can receive, from a user device 126A associatedwith a user 128A, imagery to be displayed.

At (502), the method 500 can include determining a rotational frequencyof a LIDAR device located on a vehicle.

At (506), the method 500 can include illuminating one or more of aplurality of light emitting elements coupled to the LIDAR device basedat least in part on the rotational frequency of the LIDAR device and theone or more images for display.

FIG. 6 depicts an example computing system 600 according to exampleembodiments of the present disclosure. The example system 600illustrated in FIG. 6 is provided as an example only. The components,systems, connections, and/or other aspects illustrated in FIG. 6 areoptional and are provided as examples of what is possible, but notrequired, to implement the present disclosure. The example system 600can include the vehicle computing system 101 of the vehicle 102 and, insome implementations, a remote computing system 610 including remotecomputing device(s) that is remote from the vehicle 102 (e.g., theoperations computing system 104) that can be communicatively coupled toone another over one or more networks 620. The remote computing system610 can be associated with a central operations system and/or an entityassociated with the vehicle 102 such as, for example, a vehicle owner,vehicle manager, fleet operator, service provider, etc.

The computing device(s) 130 of the vehicle computing system 101 caninclude processor(s) 602 and a memory 604. The one or more processors602 can be any suitable processing device (e.g., a processor core, amicroprocessor, an ASIC, a FPGA, a controller, a microcontroller, etc.)and can be one processor or a plurality of processors that areoperatively connected. The memory 604 can include one or morenon-transitory computer-readable storage media, such as RAM, ROM,EEPROM, EPROM, one or more memory devices, flash memory devices, etc.,and combinations thereof.

The memory 604 can store information that can be accessed by the one ormore processors 602. For instance, the memory 604 (e.g., one or morenon-transitory computer-readable storage mediums, memory devices)on-board the vehicle 102 can include computer-readable instructions 606that can be executed by the one or more processors 602. The instructions606 can be software written in any suitable programming language or canbe implemented in hardware. Additionally, or alternatively, theinstructions 606 can be executed in logically and/or virtually separatethreads on processor(s) 602.

For example, the memory 604 on-board the vehicle 102 can storeinstructions 606 that when executed by the one or more processors 602on-board the vehicle 102 cause the one or more processors 602 (thecomputing system 101) to perform operations such as any of theoperations and functions of the computing device(s) 130 or for which thecomputing device(s) 130 are configured, as described herein such as fordisplaying imagery on a vehicle.

The memory 604 can store data 608 that can be obtained, received,accessed, written, manipulated, created, and/or stored. The data 608 caninclude, for instance, imagery data, as described herein. In someimplementations, the computing device(s) 130 can obtain data from one ormore memory device(s) that are remote from the vehicle 102.

The computing device(s) 130 can also include a communication interface609 used to communicate with one or more other system(s) on-board thevehicle 102 and/or a remote computing device that is remote from thevehicle 102 (e.g., of remote computing system 610). The communicationinterface 609 can include any circuits, components, software, etc. forcommunicating with one or more networks (e.g., 620). In someimplementations, the communication interface 609 can include forexample, one or more of a communications controller, receiver,transceiver, transmitter, port, conductors, software and/or hardware forcommunicating data.

In some implementations, the vehicle computing system 101 can furtherinclude a positioning system 612. The positioning system 612 candetermine a current position of the vehicle 102. The positioning system612 can be any device or circuitry for analyzing the position of thevehicle 102. For example, the positioning system 612 can determineposition by using one or more of inertial sensors, a satellitepositioning system, based on IP address, by using triangulation and/orproximity to network access points or other network components (e.g.,cellular towers, WiFi access points, etc.) and/or other suitabletechniques. The position of the vehicle 102 can be used by varioussystems of the vehicle computing system 100.

The network(s) 620 can be any type of network or combination of networksthat allows for communication between devices. In some embodiments, thenetwork(s) can include one or more of a local area network, wide areanetwork, the Internet, secure network, cellular network, mesh network,peer-to-peer communication link and/or some combination thereof and caninclude any number of wired or wireless links. Communication over thenetwork(s) 620 can be accomplished, for instance, via a communicationinterface using any type of protocol, protection scheme, encoding,format, packaging, etc.

The remote computing system 610 can include one or more remote computingdevices that are remote from the vehicle computing system 101. Theremote computing devices can include components (e.g., processor(s),memory, instructions, data) similar to that described herein for thecomputing device(s) 130. Moreover, the remote computing system 610 canbe configured to perform one or more operations of the operationscomputing system 104, as described herein.

Computing tasks discussed herein as being performed at computingdevice(s) remote from the vehicle can instead be performed at thevehicle (e.g., via the vehicle computing system), or vice versa. Suchconfigurations can be implemented without deviating from the scope ofthe present disclosure. The use of computer-based systems allows for agreat variety of possible configurations, combinations, and divisions oftasks and functionality between and among components.Computer-implemented operations can be performed on a single componentor across multiple components. Computer-implements tasks and/oroperations can be performed sequentially or in parallel. Data andinstructions can be stored in a single memory device or across multiplememory devices.

While the present subject matter has been described in detail withrespect to specific example embodiments and methods thereof, it will beappreciated that those skilled in the art, upon attaining anunderstanding of the foregoing can readily produce alterations to,variations of, and equivalents to such embodiments. Accordingly, thescope of the present disclosure is by way of example rather than by wayof limitation, and the subject disclosure does not preclude inclusion ofsuch modifications, variations and/or additions to the present subjectmatter as would be readily apparent to one of ordinary skill in the art.

What is claimed is:
 1. A computer-implemented method, comprising:receiving, by a computing system comprising one or more computingdevices, one or more images for display; receiving, by the computingsystem, first information representing conditions surrounding a vehicle;receiving, by the computing system, second information representing anarea in which the vehicle is located and a lawfully allowed maximumbrightness for the area; determining, by the computing system, abrightness of imagery associated with the one or more images fordisplay, wherein the brightness does not exceed the lawfully allowedmaximum brightness for the area; and illuminating, by the computingsystem, one or more of a plurality of light emitting elements coupled toa rotational portion of a LIDAR device based at least in part on theconditions surrounding the vehicle, a rotational frequency of the LIDARdevice, and the one or more images for display, wherein the one or moreof the plurality of light emitting elements rotate at the rotationalfrequency of the LIDAR device and illuminate to display the imagery atthe determined brightness.
 2. The computer-implemented method of claim1, further comprising selecting, by the computing system, the one ormore images for display, wherein the one or more images for display areassociated with a user of a transport service associated with thevehicle.
 3. The computer-implemented method of claim 2, wherein the oneor more images for display are selected based at least in part onpredefined preferences of the user accessible by the computing system.4. The computer-implemented method of claim 2, wherein the one or moreimages for display are selected based at least in part on a request forthe transport service by the user.
 5. The computer-implemented method ofclaim 4, wherein the one or more images for display are selected basedat least in part on a state of the vehicle in response to the requestfor the transport service, the state of the vehicle comprising at leastone of i) the vehicle traveling to a pickup location of the user, ii)the vehicle approaching the pickup location of the user, iii) thevehicle being positioned within a predetermined distance of the pickuplocation of the user, or iv) the vehicle being positioned within thepredetermined distance of the pickup location of the user and beingstationary for a predetermined amount of time.
 6. Thecomputer-implemented method of claim 1, wherein the one or more imagesfor display comprise advertising, news, artwork, or combinationsthereof.
 7. A computing system for displaying imagery, comprising: oneor more processors; and one or more tangible, non-transitory, computerreadable media that collectively store instructions that when executedby the one or more processors cause the computing system to performoperations, the operations comprising: receiving one or more images fordisplay; receiving first information representing conditions surroundinga vehicle; receiving second information representing an area in whichthe vehicle is located and a lawfully allowed maximum brightness for thearea; determining a brightness of imagery associated with the one ormore images for display, wherein the brightness does not exceed thelawfully allowed maximum brightness for the area; and illuminating oneor more of a plurality of light emitting elements coupled to arotational portion of a LIDAR device based at least in part on theconditions surrounding the vehicle, a rotational frequency of the LIDARdevice, and the one or more images for display, wherein the one or moreof the plurality of light emitting elements rotate at the rotationalfrequency of the LIDAR device and illuminate to display the imageryassociated with the one or more images for display at the determinedbrightness.
 8. The computing system of claim 7, wherein the operationsfurther comprise selecting the one or more images for display, whereinthe one or more images for display are associated with a user of atransport service associated with the vehicle.
 9. The computing systemof claim 8, wherein the one or more images for display are selectedbased at least in part on predefined preferences of the user accessibleby the computing system.
 10. The computing system of claim 8, whereinthe one or more images for display are selected based at least in parton a request for the transport service by the user.
 11. The computingsystem of claim 10, wherein the one or more images for display areselected based at least in part on a state of the vehicle in response tothe request for the transport service, the state of the vehiclecomprising at least one of i) the vehicle traveling to a pickup locationof the user, ii) the vehicle approaching the pickup location of theuser, iii) the vehicle being positioned within a predetermined distanceof the pickup location of the user, or iv) the vehicle being positionedwithin the predetermined distance of the pickup location of the user andbeing stationary for a predetermined amount of time.
 12. The computingsystem of claim 7, wherein the one or more images for display compriseadvertising, news, artwork, or combinations thereof.
 13. A displaysystem, comprising: one or more sensors configured to detect conditionssurrounding a LIDAR device; a control system configured to receiveinformation representing an area in which a vehicle is located and alawfully allowed maximum brightness for the area, wherein the controlsystem is configured to determine a brightness of imagery associatedwith one or more images, wherein the brightness does not exceed thelawfully allowed maximum brightness for the area; one or more supportelements configured to be coupled to the LIDAR device; a plurality oflight emitting elements coupled to the one or more support elements; andone or more controllers in communication with the plurality of lightemitting elements coupled to a rotational portion of the LIDAR deviceand configured to cause one or more of the plurality of light emittingelements to illuminate for display based at least in part on arotational frequency of the LIDAR device, wherein the one or more of theplurality of light emitting elements rotate at the rotational frequencyof the LIDAR device and illuminate at the brightness.
 14. The displaysystem of claim 13, wherein the one or more controllers are configuredto communicate with one or more computing devices to receive one or moreimages for display from the one or more computing devices.
 15. Thedisplay system of claim 14, wherein the one or more controllers areconfigured to cause one or more of the plurality of light emittingelements to illuminate for display based at least in part on the one ormore images for display.
 16. The display system of claim 13, wherein theplurality of light emitting elements comprise light emitting diodes. 17.The display system of claim 16, wherein the one or more controllerscomprise one or more drivers.
 18. The display system of claim 13,wherein the one or more support elements are configured to be coupled toa housing of the LIDAR device such that the one or more light emittingelements are visible.